Abstract: An accessory device and an immobilization system including the device are provided for positioning at least a portion of a patient's body relative to an immobilization device including a low temperature thermoplastic sheet. The accessory device may include a patient fixation portion and a lock portion. The patient fixation portion is attached to or inserted in the patient during use. The lock portion may extend distally from the patient fixation portion generally along a lock portion axis. The lock portion includes a shape, surface feature, or configuration, such that the low temperature thermoplastic sheet may be conformed to the outer surface of the lock portion of the accessory device, such that unintended separation of the accessory device from the low temperature thermoplastic sheet is prevented. Methods of forming the accessory device and immobilization system are also provided.

Abstract: Media, systems, and methods for reducing latency in a head-mounted display for the remote operation of machinery. A remote camera sends raw video to a graphics processing unit which processes the video and transmits the updated video to a head-mounted display with limited latency such that the control of remote devices may be improved. The image may be spherically rendered and projected onto the head-mounted display with a rectangular view. The graphics processing unit may determine a rotation matrix based on a pose of the remote camera and a pose of the head-mounted display, and the image may be projected based on the rotation matrix.

Abstract: An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.

Abstract: An autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient includes: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.

Abstract: Methods of operating a surgical instrument are disclosed herein.

Abstract: A force sensing device is provided for use with a surgical instrument shaft having a two degree-of-freedom wrist mounted end effector portion having a working surface; a housing defines an annular collar sized to snugly fit about the two degree-of-freedom wrist and defines a cap sized to snugly fit about the end effector portion; an optical fiber including a segment is embedded within the annular collar and including a segment embedded within the cap; a first fiber Bragg grating (FBG) formed in the segment of the optical fiber embedded within the cap.

Abstract: Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Abstract: User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device body containing a tracking sensor to generate a spatial state signal in response to movement of the device body. The spatial state signal can be used to control a spatial motion of a surgical robotic system actuator. Several grip linkages can be pivotally coupled to the device body. A grip linkage displacement sensor may monitor movement of the grip linkages relative to the device body, and generate a grip signal in response to the movement. The grip signal can be used to control a grip motion of a robotic surgical tool mounted on the surgical robotic system actuator. Other embodiments are also described and claimed.

Abstract: There is provided a control device including a control unit configured to control an operation offset that indicates a difference between a control reference point for a slave unit and a control reference point for a master unit on the basis of operation magnification indicating a ratio of a movement amount of the master unit to a movement amount of the slave unit, in which the control unit controls the operation offset for two pairs of master unit and slave unit according to a change in the operation magnification in a case where a designated position of a first pair of master unit and a slave unit of the two pairs of master units and the slave units is kept constant.

Abstract: Devices, systems, and methods for providing a surveillance marker configured to detecting movement of a dynamic reference base attached to a patient a robot-assisted surgical procedure are provided. The surveillance marker and the dynamic reference base are connected to a bony structure independent of each other.

Abstract: An electronic device includes a housing defining an aperture. An input device extends through the aperture and has a user input surface external to the housing. An inertial actuator is mechanically and fixedly coupled to the input device and positioned within the housing. A mechanical wave dampener provides mechanical wave dampening between the input device and the housing. The electronic device enables haptic feedback to be provided locally to the input device. In some cases, the mechanical wave dampener may dampen shaking of the input device with respect to the housing by at least an order of magnitude.

Abstract: A method for actuating an X-ray device during robot-assisted navigation of at least two objects introduced into a body, such as a hollow organ, of a patient by at least one robotic system, includes providing a first selection criterion for selecting one of the objects, and providing a second selection criterion for selecting one of the objects. One of the at least two objects is selected based on the first selection criterion and the second selection criterion, and recording parameters of the X-ray device are automatically set, such that the selected object in an X-ray image to be recorded is highlighted compared to the at least one other object. The selected object may be highlighted with respect to image quality, image flavor, positioning on the X-ray image, and/or a collimator setting of a collimator of the X-ray device. An X-ray image is recorded with the set recording parameters.

Abstract: A method of compressing tissue during a surgical procedure is disclosed. The method comprises obtaining a surgical instrument comprising an end effector, wherein the end effector comprises a first jaw and a second jaw, establishing a communication pathway between the surgical instrument and a surgical hub, and inserting the surgical instrument into a surgical site. The method further comprises compressing tissue between the first jaw and the second jaw, determining a location of the compressed tissue with respect to at least one of the first jaw and the second jaw, communicating the determined location of the compressed tissue to the surgical hub, and displaying the determined location of the compressed tissue on a visual feedback device.

Abstract: Surgical systems and methods are disclosed for creating a 3D model of a patient's affected area using an imaging device, using the model to determine an implant orientation and position, creating patient-matched instrumentation, placing the patient-matched instrumentation on the patient's anatomy, registering a computer-assisted surgical tool, and acquiring registration information. The methods and systems also include associating the surgical tool with a computer to perform a computer assisted surgery. Also disclosed are embodiments of patient-matched instrumentation to acquire registration information.

Abstract: A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.

Abstract: A method and system for determining an extent of matter removed from a targeted anatomical structure are disclosed. The method includes acquiring an initial representation of a targeted anatomical structure and then removing matter from the targeted anatomical structure. An instrument is then navigated within the targeted anatomical structure. The instrument includes a tracking array, and a relative position of the instrument within the targeted anatomical structure is determined by the tracking array. The method includes recording the relative position of the instrument within the targeted anatomical structure to determine a final representation of the targeted anatomical structure. Finally, the method includes determining an extent of matter removed from the targeted anatomical structure by comparing the initial representation of the targeted anatomical structure with the final representation of the targeted anatomical structure.

Abstract: A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channel and a control hub configured to mount to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.

Abstract: A medical handling device which includes an instrument holder that supports and instrument and a robotic handling unit that supports the instrument hold, and a control device. The control device has a handling control unit that controls the robotic handling unit and an instrument control unit that controls the instrument. The control device has an interface for at least one input device. An input device is coupled to the interface. The input device is operable in a first operating mode to control the instrument and in a second operating mode to control the robotic handling unit. An enabling switch activates the second operating mode, in which the robotic handling unit is movable in response to input commands at the input device.

Abstract: Disclosed are systems and methods for assisting with procedures involving a subject's joint, such as a joint. Robotic devices move and position the subject to manipulate the joint and sensing devices sense the joint gap. The robotic devices are controlled based on the joint gap. Novel techniques are disclosed for joint gap segmentation, approximating an uncertainty in determination of the varying dimension of the joint gap, and real-time motion analysis of the joint gap size. In some examples, a kinematic model of the patient's anatomy is utilized to provide robotically assisted manipulation of the same using the techniques described herein.

Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

Abstract: A distributed control system for an autonomous modular robot (AMR) vehicle includes a top module processor disposed in communication with a lower module processor, and memory for storing executable instructions of the top module processor and the lower module processor. The instructions are executable to cause the top module processor and the lower module processor to navigate a bottom module, via the bottom module processor, the AMR vehicle to a target destination. The instructions are further executable to determine, via the bottom module processor, that the AMR vehicle is localized at a target destination, transmit a request for a cargo unloading instruction set, and receive, via a top module processor, a response to a cargo unloading instruction set sent from the bottom module processor. The instructions further cause the top module processor to unload the cargo to a target destination surface via an unloading mechanism associated with the top module.

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

Abstract: An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.

Abstract: A surgical procedure planning system and method that uses multiple feedback loops to optimize creation or design of future surgical preoperative plans.

Abstract: A computer-assisted medical device includes a first articulated arm, a second articulated arm, an arm stabilizer, and a control system. The arm stabilizer includes first and second clamps and one or more sensors. The first and second clamps are configured to couple the arm stabilizer to the first and second articulated arms. At least one of a distance or a relative orientation between the first and second clamps is adjustable and the one or more sensors are configured to determine the distance or relative orientation. The control system is configured to implement a following mode in which the control system drives movement of the second articulated arm in response to movements of the first articulated arm and the arm stabilizer.

Abstract: A medical device may comprise an instrument comprising a shaft and a working end comprising a jaw mechanism, and a translating mechanism moveable in a first direction and a second direction relative to the jaw mechanism, the first and second directions opposite to one another. The medical device may further comprise a controller configured to in response to a first input, control movement of the translating mechanism from a proximal position to an intermediate position relative to the jaw mechanism, in response to a second input, control movement of the translating mechanism from the intermediate position to a distal position relative to the jaw mechanism, control movement of the translating mechanism from the distal position back to the proximal position, and monitor a position of the translating mechanism to determine whether the translating mechanism has moved from the distal position back to the proximal position after a predetermined time period.

Abstract: A surgical instrument comprises an outer sleeve including an inner surface that defines a cavity. An inner shaft is fixed with the outer sleeve and extends within the cavity. The inner shaft includes a drive engageable in a torque interface with a first mating surface of a bone fastener. An inner sleeve is disposed between the inner shaft and the outer sleeve. The inner sleeve is axially fixed and rotatable relative to the outer sleeve. The inner sleeve includes an element connectable in a connection interface with a second mating surface of the bone fastener. Systems, spinal implants and methods are disclosed.

Abstract: A surgical system includes a first tracker configured to be affixed to a first object, a detection device configured to determine a change in position of the first tracker, and circuitry communicable with the detection device. The circuitry is configured to compare the change in the position of the first tracker to a condition and generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.

Abstract: A method of preparing a bone to receive an implant component includes planning one or more surgical cuts configured to provide the bone with a curved intersection between two surfaces, applying a mechanical restraint to an arm holding a cutting tool based on the one or more surgical cuts, and performing, subject to the mechanical restraint and by articulating the arm, the one or more surgical cuts using the cutting tool.

Abstract: The inventive subject matter is directed to an artificial intelligence intra-operative surgical guidance system and method of use. The artificial intelligence intra-operative surgical guidance system is made of a computer executing one or more automated artificial intelligence models trained on data layer datasets collections to calculate surgical decision risks, and provide intra-operative surgical guidance; and a display configured to provide visual guidance to a user.

Abstract: A method for manufacturing a prosthetic component include injection molding a prosthetic component with a polymeric material. The prosthetic component includes a final surface positioned on one side and multiple coring features positioned on an opposite side. The coring features may include multiple ribs and slots. The method further includes machining the prosthetic component to remove the coring features and form a final surface on the opposite side. The prosthetic component may be a femoral component for a prosthetic knee joint.

Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis.

Abstract: The disclosed system may include a support structure dimensioned for a user's hand. The system may also include transmitting electrodes coupled to a first finger portion of the support structure and may further include receiving electrodes coupled to a second, different finger portion of the support structure. The system may also include a controller that is coupled to the support structure and that is communicatively connected to the transmitting and receiving electrodes. The controller may also be configured to cause the transmitting electrodes to transmit a signal, detect at least some of the transmitted signal at the receiving electrodes and, based on the detected signal, determine that at least two fingers of the user's hand are touching each other. Various other methods, systems, and computer-readable media are also disclosed.

Abstract: An implant localization device includes a coupler and a positioning system. The coupler is configured to removably engage an implant component to fix the positioning system in space relative to the implant component. The positioning system is in communication with a centralized computing system, whereby, due to the fixed spatial relationship between the positioning system and the implant component, via the coupler, and determinable changes in movement relative to a registered starting point, the centralized computing system is able to calculate a real-time position and orientation of the implant component. The centralized computing system is configured to synthesize data from a joint templating software program, a CAD software program, and the positioning system to provide real-time positional and orientation data to assist with extraction and placement of the implant component. Robotics and reference markers may be used to further automate and/or enhance the accuracy and efficiency of the system.

Abstract: A surgical instrument is disclosed comprising a control system and a strain gage circuit. The operation of the control system is modifiable by an input from the strain gage circuit.

Abstract: Robotic systems can be capable of collision detection and avoidance. A robotic medical system can include a robotic arm, an input device configured to receive one or more user inputs for controlling the robotic arm, and a display configured to provide information related to the robotic medical system. The display can include a first icon that is representative of the robotic arm and includes at least a first state and a second state. The robotic medical system can be configured to control movement of the robotic arm based on the user inputs received at the input device in real time, determine a distance between the robotic arm and a component, and provide information to the user about potential, near, and/or actual collisions between the arm and the component.

Abstract: Methods, non-transitory computer readable media, and surgical computing devices are disclosed herein for creating a three-dimensional (3D) model based on a plurality of received two-dimensional (2D) medical images containing patient anatomy and a tracking fiducial. Once the 2D images are received, a determination is made regarding any potential processing steps required to put the images into a standard view. Once the images are processed, a user may modify or adjust various factors. Using the size and orientation of the tracking fiducial a 3D virtual model is created based on a repository of known patient data, such as a bone atlas. The 3D virtual model can then be output to a display device and optionally used to facilitate a surgical procedure. The 3D virtual model of patient anatomy can advantageously be generated more quickly and using fewer resources with this technology.

Abstract: A computer assisted surgery system includes a controller configured to display images of the surgical procedure according to a workflow plan. The controller is configured to retrieve data and determine the workflow plan based on the data. The controller may also be configured to record and store data related to the surgical procedure on, for example, a hospital network.

Abstract: In an example, a method for calibrating fiducials relative to a workpiece is disclosed and involves receiving, from one or more cameras, images of the fiducials, each image acquired from a different camera pose, where the fiducials comprise (i) one or more first fiducials fixed at one or more unknown locations on the workpiece and (ii) calibration fiducials disposed at known locations on the workpiece; estimating poses of the fiducials, where estimating the poses of the fiducials comprises, in each image, estimating, for each fiducial visible in the image, a pose of the fiducial relative to the camera(s); formulating a pose graph comprising nodes for the images and for the fiducials, the poses estimated for the fiducials, the calibration fiducials as landmarks with known poses, and constraints between the calibration fiducials and the images; and solving the pose graph to determine poses of the first fiducial(s) that satisfy the constraints.

Abstract: A method of preparing a robotic surgery apparatus for a medical procedure can include covering a manipulator unit of the robotic surgery apparatus with a first sterile barrier by coupling a drape coupler of the first sterile barrier to a bottom surface of the manipulator unit and wrapping a drape of the first sterile barrier around side and top surfaces of the manipulator unit. The drape can be coupled to the drape coupler. The drape can be made of material that is more flexible than material of the drape coupler. The method can include covering an arm of the robotic surgery apparatus supporting the manipulator unit with a second sterile barrier that is distinct from the first sterile barrier by coupling the second sterile barrier to the arm and wrapping the second sterile barrier around the arm.

Abstract: Disclosed herein are systems and methods for using a robotic surgical system comprising a GUI and a robotic arm.

Abstract: A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.

Abstract: An autonomous system and method for controlling the operation of a steerable surgical device includes multiple surgical device actuation elements, an imaging apparatus (e.g., ultrasound) arranged external to a mammalian body, and at least one processor. The processor(s) is/are configured to generate a transit path between an insertion point and a target point, control the surgical device actuation elements to advance the steerable surgical device along one or more segments of the transit path, identify deviation of position relative to the transit path utilizing signals from the imaging apparatus and generate an updated transit path, and control the surgical device actuation elements to advance the steerable surgical device along at least one segment of the updated transit path. Transit of the steerable surgical device between the insertion point and the target point may be controlled without human intervention.

Abstract: Disclosed is a flexible surgical instrument system, comprising: a distal structural body comprising at least one distal structural segment, the at least one distal structural segment comprising a distal fixing disk and distal structural backbones; a proximal structural body comprising at least one proximal structural segment, the at least one proximal structural segment comprising a proximal fixing disk, proximal structural backbones, and driving backbones, the distal structural backbones being securely connected in one-to-one correspondence to or the same as corresponding proximal structural backbones, and a driving unit comprising a linear motion mechanism operable to convert a first rotary motion into linear motions to cooperatively push or pull a pair of driving backbones of the driving backbones to turn the at least one proximal structural segment.

Abstract: Surgical kit inspection systems and methods are provided for inspecting surgical kits having parts of different types. The surgical kit inspection system comprises a vision unit including a first camera unit and a second camera unit to capture images of parts of a first type and a second type in each kit and to capture images of loose parts from each kit that are placed on a light surface. A robot supports the vision unit to move the first and second camera units relative to the parts in each surgical kit. One or more controllers obtain unique inspection instructions for each of the surgical kits to control inspection of each of the surgical kits and control movement of the robot and the vision unit accordingly to provide output indicating inspection results for each of the surgical kits.

Abstract: A system is disclosed that includes an optical tracking device and a surgical computing device. The optical tracking device includes a structured light module and an optical module that includes an image sensor and is spaced from the structured light module at a known distance. The surgical computing device includes a display device, a non-transitory computer readable medium including instructions, and processor(s) configured to execute the instructions to generate a depth map from a first image captured by the image sensor during projection of a pattern into a surgical environment by the structured light module. The pattern is projected in a near-infrared (NIR) spectrum. The processor(s) are further configured to execute the stored instructions to reconstruct a 3D surface of anatomical structure(s) based on the generated depth map. Additionally, the processor(s) are configured to execute the stored instructions to output the reconstructed 3D surface to the display device.

Abstract: Aspects of the disclosure are directed towards path generation. A method includes a device registering working frame of a target object with a reference frame of a robot. The device can generate a path over a representation of a surface of the target object. The device can generate a trajectory over the surface of the target object based on the registration, the path, and a normal. The device can classify a target type for the real-world target using a machine learning model based on scanned data of the surface of the target object. The device can generate a robot job file, wherein the robot job file comprises the trajectory and an autonomous operation instruction. The device can transmit the robot job file to a robot controller.

Abstract: A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates without moving the coupling member. In the second system state the coupling member is engaged with the engagement feature of the first gear and rotation of the rotational input turns the coupling member, the first gear, and the second gear to move the movable element.

Abstract: Devices, systems, and methods for computer-assisted navigation and/or robot-assisted surgery. Navigable instrumentation, which are capable of being navigated by a surgeon using the surgical robot system, allow for the navigated movement of instruments or other surgical devices. The instruments may be suitable for procedures involving navigated and/or robotic total knee arthroplasty, for example.

Abstract: A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.